diff --git a/tests/solvers/TestBasicAlgebra.cpp b/tests/solvers/TestBasicAlgebra.cpp
index b78c68f4..c6a04293 100644
--- a/tests/solvers/TestBasicAlgebra.cpp
+++ b/tests/solvers/TestBasicAlgebra.cpp
@@ -4,7 +4,7 @@
 #include <qpOASES/SQProblem.hpp>
 #include <chrono>
 #include <gtest/gtest.h>
-#include <XBotInterface/MatLogger.hpp>
+#include <matlogger2/matlogger2.h>
 
 namespace{
 class testBasicAlgebra: public ::testing::Test{
@@ -281,7 +281,7 @@ TEST_F(testBasicAlgebra, testqpOASES)
 
 TEST_F(testBasicAlgebra, checkProductOptimization)
 {
-    auto logger = XBot::MatLogger::getLogger("/tmp/checkProductOptimization");
+    auto logger = XBot::MatLogger2::MakeLogger("/tmp/checkProductOptimization");
     
     
     
@@ -473,9 +473,6 @@ TEST_F(testBasicAlgebra, checkProductOptimization)
         EXPECT_NEAR((H-H_naive).norm(), 0.0, 1e-9);
     }
     
-    
-    logger->flush();
-    
 }
 
 }
diff --git a/tests/solvers/TestOSQP.cpp b/tests/solvers/TestOSQP.cpp
index 1f890dae..a367d2ee 100644
--- a/tests/solvers/TestOSQP.cpp
+++ b/tests/solvers/TestOSQP.cpp
@@ -8,6 +8,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/constraints/velocity/VelocityLimits.h>
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;
diff --git a/tests/solvers/TestQPOases.cpp b/tests/solvers/TestQPOases.cpp
index fb10e9d1..62bff475 100644
--- a/tests/solvers/TestQPOases.cpp
+++ b/tests/solvers/TestQPOases.cpp
@@ -14,7 +14,7 @@
 #include <OpenSoT/tasks/velocity/MinimumEffort.h>
 #include <XBotInterface/ModelInterface.h>
 #include <OpenSoT/utils/AutoStack.h>
-
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;
diff --git a/tests/solvers/TesteiQuadProg.cpp b/tests/solvers/TesteiQuadProg.cpp
index 45e9e39d..f84e78cf 100644
--- a/tests/solvers/TesteiQuadProg.cpp
+++ b/tests/solvers/TesteiQuadProg.cpp
@@ -7,6 +7,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/constraints/velocity/VelocityLimits.h>
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;
diff --git a/tests/solvers/TestqpSWIFT.cpp b/tests/solvers/TestqpSWIFT.cpp
index d93da7a4..d0354629 100644
--- a/tests/solvers/TestqpSWIFT.cpp
+++ b/tests/solvers/TestqpSWIFT.cpp
@@ -9,6 +9,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/constraints/velocity/VelocityLimits.h>
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;